RecallGS: Geometry-Grounded Recall for Online Semantic Gaussian Splatting
Online semantic 3D Gaussian Splatting (3DGS) enables open-vocabulary scene understanding from streaming observations. However, existing methods recover geometric context missing from image-derived semantic features using an additionally learned 3D network, incurring extra training and runtime overhead. We observe that such geometric-semantic evidence may already exist in the agent's observation history and can be retrieved rather than learned. Based on this insight, we introduce RecallGS (Geometry-Grounded Recall for Online Semantic Gaussian Splatting), a lightweight, training-free mechanism that treats past observations as a non-parametric geometric-semantic prior. RecallGS follows a rec...
| Authors | Thanh-Khoi Nguyen, Thien-Phuc Tran, Minh-Triet Tran |
|---|---|
| Primary category | cs.CV |
| Published | 22 October 2026 |
| Last updated at source | 22 October 2026 |
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